AN OUTPUT FEEDBACK CONTROLLER FOR TRAJECTORY TRACKING OF RLED ROBOTS USING AN OBSERVED BACKSTEPPING APPROACH

摘要

This paper presents an output feedback controller for a rigid-link electrically driven (RLED) robot. The controller is designed in conjunction with a velocity observer and an electrical current observer using an observed integrator backstepping procedure. The overall observer-controller achieves a semiglobal exponential stability result for the link position-velocity tracking error as well as the velocity and current observation errors. Simulation study as well as the experimental results of the observer-controller for an RLED robot driven by dc motors are also included.